According to the limitation of the closed control system applied by the traditional industrial robot, an open architecture welding robot based on PCI motion card is designed in this paper.

针对传统工业机器人采用封闭式控制系统的局限性，设计了一种基于PCI运动控制卡的开放式焊接机器人。

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In order to deal with force-controlled execution of active compliance control in an unknown environment, an open architecture platform of robot force control is set up.

针对未知环境下机器人主动柔顺控制在工程中实现的问题，构造了一个开放式机器人力控制系统。

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